To study the vertical compressive bearing characteristics of large-diameter rock-socketed cast-in-place piles, eight manually-excavated rock-socketed cast-in-place piles were subjected to vertical compressive on-site load and pile stress tests. The test results showed that the load–displacement (Q-s) curves of the eight test piles were all slow-varying, and the settlement of the piles was less than 11 mm, which met the minimum engineering requirements. The unloading rebound rate was between 55 and 75%, and the elastic working properties of the piles were apparent. The pile axial force gradually decreased with depth, and the slope of the axial force distribution curve reached a minimum in the moderately weathered muddy siltstone layer while the pile side friction resistance reached its maximum value. Pile end friction increases with the increase of load. But the pile end resistance was inversely proportional to the single pile length-to-diameter (L/D) ratio and the depth of rock embedment for the pile. The percentage of pile side friction resistance under maximum load was 86%, indicating that these were characteristic friction piles. Based on the test results and the current Chinese code, the friction coefficient of the pile side soil layer η and the total resistance coefficient of the rock-socketed section ζ were introduced. A revision to the calculation equation for the vertical bearing capacity of the rock-socketed cast-in-place pile in the code was proposed, together with an optimization design method for large-diameter rock-socketed cast-in-place piles.